CN211815578U - Rising and falling type pier avoidance detection vehicle - Google Patents
Rising and falling type pier avoidance detection vehicle Download PDFInfo
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- CN211815578U CN211815578U CN201922206407.0U CN201922206407U CN211815578U CN 211815578 U CN211815578 U CN 211815578U CN 201922206407 U CN201922206407 U CN 201922206407U CN 211815578 U CN211815578 U CN 211815578U
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Abstract
The utility model provides a lifting type pier avoidance detecting vehicle, which comprises a vehicle body, a transverse bracket arranged on the vehicle body, a longitudinal bracket connected with the end part of the transverse bracket, and a truss connected with the bottom end of the longitudinal bracket through a rotating mechanism; the transverse support comprises a first base connected with the vehicle body, a second base connected with the longitudinal support and a lifting mechanism used for connecting the first base and the second base; the lifting mechanism comprises a plurality of groups of lifting assemblies arranged in parallel, each group of lifting assemblies comprises a connecting rod, one end of each connecting rod is hinged to the end of the first base, and the other end of each connecting rod is fixedly arranged on the side wall of the second base. The lifting and rotating synchronous movement mode is adopted to improve the posture changing speed of the truss, greatly reduce the space required by changing the posture of the truss and reduce the time wasted in avoiding the bridge pier.
Description
Technical Field
The utility model belongs to bridge check out test set field especially relates to a pier measuring vehicle is dodged to formula of rising and falling.
Background
A bridge inspection vehicle takes an automobile as a carrier, and is loaded with three-section mechanical arms, namely a transverse support with a base mounted on the inspection vehicle, a vertical support mounted on the transverse support in a telescopic or hinged mode, and a truss mounted on the vertical support in a telescopic or hinged mode. The bridge inspection vehicle walks on the edge of the bridge, the transverse support extends out of the side edge of the bridge body, and the vertical support extends downwards to a position below the bottom surface of the bridge. The truss is supported by the vertical support and extends inwards from the side edge of the bridge body, and the truss is horizontally and transversely arranged at the bottom of the bridge. The truss is provided with a sensor, a camera, a lighting device and the like for detection.
However, the bridge bottom pier stands upright and becomes the most frequent obstacle of the truss. The traditional coping mode is to pack the truss and the vertical support, and to expand the truss again after passing through the pier position for detection. The detection efficiency is seriously affected. And in the inner side of the curve of the bridge or the road section with complex terrain, the distance between the piers is extremely small, and the avoidance difficulty of the piers is increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a, the pier is dodged to the function of lifting up through rotatory cooperation lifting mechanism of truss. When the truss rotates and is difficult to completely avoid the bridge piers under the condition that the distance between the bridge piers is small, the longitudinal support and the truss including the second base are lifted through the lifting mechanism, the longitudinal support is inclined, the bottom end of the longitudinal support is arranged towards the side of the bridge, one part of the truss is quickly separated from a gap between the two bridge piers, and then the truss is combined with the rotating mechanism to realize the avoidance of the bridge piers. Or all the trusses are separated from the bottom of the bridge, so that the practicability of avoiding the bridge pier of the detection vehicle can be improved, and the detection vehicle can be continuously detected only by controlling the telescopic mechanism and/or the rotating mechanism to reset after passing through the bridge pier.
The utility model discloses a realize through following technical scheme:
a lifting type bridge pier avoidance detection vehicle comprises a vehicle body, a transverse support arranged on the vehicle body, a longitudinal support connected to the end part of the transverse support, and a truss connected to the bottom end of the longitudinal support through a rotating mechanism; the transverse support comprises a first base connected with the vehicle body, a second base connected with the longitudinal support and a lifting mechanism used for connecting the first base and the second base; the lifting mechanism comprises a plurality of groups of lifting assemblies arranged in parallel, each group of lifting assemblies comprises a connecting rod, one end of each connecting rod is hinged to the end of the first base, and the other end of each connecting rod is fixedly arranged on the side wall of the second base.
By the proposal, the utility model discloses at least, obtain following technological effect: when the lifting mechanism works, the second base, the longitudinal support and the truss are integrally connected to lift, so that the weight of the structure required to be adjusted is reduced. Meanwhile, the truss rotates by taking the rotating mechanism at the bottom end of the longitudinal support as a rotating center, so that the amplitude of the lifting mechanism needing to be lifted during bridge pier avoidance can be reduced, and the truss passes through one side of the bridge pier in an inclined posture. The mode of synchronous lifting and rotating motion is adopted to improve the speed of changing the truss posture, so that the space required by changing the truss posture is greatly reduced, and the time wasted in avoiding the bridge pier is reduced.
Optionally, each group of lifting assemblies further comprises an avoidance motor and a gear set; the gear set comprises a driving gear in driving connection with the avoidance motor and a driven gear meshed with the driving gear; the driving gear is arranged on the first base, and the driven gear is arranged at the end of the connecting rod.
The hinged part of the connecting rod and the first base is designed into a connection form engaged by a gear set driven by an avoiding motor, and the actions of lifting and putting down the connecting rod can be realized by controlling the avoiding motor.
Optionally, the lifting type pier avoidance detection vehicle further comprises a central controller, and the central controller is in communication connection with the avoidance motor.
The avoidance motor is connected with the central controller, so that the automatic control of the avoidance action can be realized. Furthermore, the remote controller can be connected with the central controller, and then the remote controller can control the lifting and lowering actions of the connecting rod. And avoiding the barrier in the detection process is more convenient.
Optionally, the central controller is in communication with the rotation mechanism.
The rotary mechanism is connected with the central controller, so that the automatic control of the avoiding action can be realized. And meanwhile, the operation control effect of the expansion and the retraction of the truss is optimized.
Optionally, a laser sensor for detecting whether the truss is close to the bridge pier is further arranged on the truss, the laser sensor is in communication connection with the central controller, and the central controller controls the avoidance motor and/or the rotating mechanism according to detection signals of the laser sensor.
The laser sensor is used for acquiring the position information of the bridge piers from the truss, measuring the distance from the nearest bridge pier to the truss in the running direction of the detection vehicle, and sending bridge pier obstacle signals to the central controller when the distance reaches a preset value. The central controller controls the avoidance motor to drive the connecting rod to perform lifting movement according to the signal of the laser sensor. Or the central controller controls the rotating mechanism to rotate according to the signal of the laser sensor.
Optionally, an information acquisition mechanism in communication connection with the central controller is arranged on the truss, and the information acquisition mechanism includes one or more of a video camera, a compound eye camera, and an ultrasonic detector.
Video recording can be carried out through a video camera, or a compound eye camera is adopted to carry out continuous panoramic picture shooting, and then a plurality of panoramic pictures are integrated through establishing reference coordinates, or an ultrasonic wave monitor is adopted to carry out ultrasonic wave crack detection on the bottom surface and the inside of the bridge, or more information acquisition equipment in related fields is adopted to carry out detection. And then transmitting the acquired information to a central controller for storage or forwarding transmission.
Optionally, the compound eye camera includes a hemispherical base, at least one hemispherical lens disposed on the surface of the base, and a plurality of cylindrical lenses disposed on the surface of the base and surrounding the hemispherical lens.
The compound-eye camera is used for taking a panoramic picture, and in order to more clearly acquire information on the bottom and periphery of the bridge, it is necessary to take a panoramic picture in an area where the taking range is hemispherical. Therefore, the lens of the lens for shooting the pictures at the periphery adopts the cylindrical surface design, and the pictures in the 1.25M 0.87M-2.5M 1.75M area within the distance of 1-2M can be shot more clearly. A plurality of cylindrical lens lenses uniformly surround the hemispherical base surface, and the connecting line of the centers of the cylindrical lens lenses forms a circle parallel to the bottom surface of the base. However, the top dead zone is formed after the pictures shot by the cylindrical lens are integrated, so that the hemispherical lens is arranged at the top center of the hemispherical base, and the pictures in the 1.5M-3M area within the distance of 1-2M are shot. And integrating all the pictures shot by the lenses to form a full-coverage panoramic picture in the hemispherical area.
Optionally, the lifting type bridge pier avoidance detecting vehicle further comprises a wireless communication module in communication connection with the central controller; the central controller is connected with a cloud server which stores intelligent building disease analysis data through a wireless communication module.
The central controller is connected with the cloud server through the wireless communication module, the acquired bridge detection data are uploaded quickly, and then the intelligent analysis data related to building damage stored in the cloud server are used for comparative analysis
Optionally, the truss is further provided with an LED lamp.
When the light is not enough at the bottom of the bridge, the LED lamp is used for illuminating, and the reinforcing light source avoids the condition that the light is not enough and the information acquisition is not accurate, so that the detection result is influenced.
Optionally, the longitudinal support is a telescopic rod structure.
When the bridge piers are subjected to avoidance action, the longitudinal support is integrally inclined by matching with the lifting action of the lifting mechanism, and the bottom end of the longitudinal support starts to move upwards in an inclined manner towards the side of the bridge to drive the truss to be drawn out of a gap between the bridge piers. In the process, the speed of drawing the truss out of the gap can be further increased through the expansion and contraction of the longitudinal support. Thereby shortening the time required for adjusting the posture when avoiding the bridge pier.
Drawings
Fig. 1 is a schematic view of a main view structure of a landing-avoiding pier detection vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic top view of the landing type pier avoidance detecting vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a compound eye camera according to an embodiment of the present invention.
Legend:
1, a vehicle body; 2, a transverse bracket; 3, longitudinal support; 4, truss; 5 a central controller;
21 a first base; 22 a second base; 23 lifting the assembly;
231 a connecting rod; 232 avoiding the motor; 233 a driving gear; 234 a driven gear;
41 compound eye camera; 42LED lamps; 43 a laser sensor; 44 a rotation mechanism;
411 a hemispherical base; 412 hemispherical lens barrel; 413 cylindrical lens.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
Referring to figures 1-3 of the drawings,
example 1:
a lifting type bridge pier avoidance detection vehicle comprises a vehicle body 1, a transverse support 2 arranged on the vehicle body 1, a longitudinal support 3 connected to the end part of the transverse support 2, and a truss 4 connected to the bottom end of the longitudinal support 3 through a rotating mechanism 44; the transverse support 2 comprises a first base 21 connected with the vehicle body 1, a second base 22 connected with the longitudinal support 3 and a lifting mechanism for connecting the first base 21 and the second base 22; the lifting mechanism comprises a plurality of groups of lifting components 23 arranged in parallel, each group of lifting components 23 comprises a connecting rod 231, one end of each connecting rod 231 is hinged to the end portion of the first base 21, and the other end of each connecting rod 231 is fixedly arranged on the side wall of the second base 22.
By the proposal, the utility model discloses at least, obtain following technological effect: when the lifting mechanism works, the whole body formed by connecting the second base 22, the longitudinal support 3 and the truss 4 is lifted, so that the weight of the structure required to be adjusted is reduced. Meanwhile, the truss 4 rotates by taking the rotating mechanism 44 at the bottom end of the longitudinal support 3 as a rotating center, so that the amplitude of lifting required by the lifting mechanism during pier avoidance can be reduced, and the truss 4 passes by one side of a pier in an inclined posture. The lifting and rotating synchronous movement mode is adopted to improve the posture changing speed of the truss 4, greatly reduce the space required for changing the posture of the truss 4 and reduce the time wasted in bridge pier avoidance.
The avoidance movement process of the technical scheme is as follows: the sets of lift assemblies 23 in the lift mechanism work in unison to lift the connecting rods 231 in each assembly upwardly. The connecting rods 231 in each group lift the second base 22 upward. The longitudinal support 3 is tilted while being lifted up along with the second base 22, and the bottom end of the longitudinal support is swung out to the side of the bridge to drive the truss 4 connected to the bottom end of the longitudinal support 3 to be drawn out to the side of the bridge for a certain distance. At the same time of or after the lifting mechanism works, the rotating mechanism 44 for connecting the longitudinal support 3 and the truss 4 works to drive the truss 4 to rotate by taking the rotating mechanism 44 as a rotating center. At this time, the rotation plane of the truss 4 is an inclined plane inclined at the side of the bridge so as to reduce the rotation and lifting amplitude. Meanwhile, the truss 4 can avoid the bridge pier in an inclined posture, and the avoidance of the bridge pier under the bridge bottom with small space can be realized.
In addition, if the space of the bridge bottom is sufficient, the bridge bottom can be avoided by controlling one of the extension mechanism and the rotating mechanism to work.
Example 2:
on the basis of embodiment 1, in order to further improve the detection efficiency of the detection vehicle and improve the accuracy of the avoidance speed and the avoidance operation, the technical scheme is automatically improved, and the specific improvement scheme is as follows:
in one embodiment, in order to operate the connecting rod 231 more accurately and efficiently to perform the avoidance operation, each set of lifting assemblies 23 further includes an avoidance motor 232 and a gear set; the gear set comprises a driving gear 233 which is in driving connection with the avoidance motor 232 and a driven gear 234 which is meshed with the driving gear 233; the driving gear 233 is disposed on the first base 21, and the driven gear 234 is disposed at an end of the connecting rod 231. The hinged joint of the connecting rod 231 and the first base 21 is designed to be in a connection form of meshing of a gear set driven by an avoidance motor 232, and the actions of lifting and lowering the connecting rod 231 can be realized by controlling the avoidance motor 232.
In one embodiment, the central controller 5 is communicatively coupled to the rotation mechanism 44 for more precise and efficient operation of the connecting rod 231 to perform the avoidance maneuver. The rotation mechanism 44 is connected to the central controller 5, and automatic control of the avoidance operation can be realized. And simultaneously optimizes the operational control effects of the expansion and retraction of the truss 4.
In one embodiment, to enhance the control performance, a central controller 5 is further included, and the central controller 5 is communicatively coupled to the avoidance motor 232. The avoidance motor 232 is connected with the central controller 5, so that the automatic control of the avoidance action can be realized. Further, the remote controller can be connected to the central controller 5, so that the remote controller can control the lifting and lowering operations of the connecting rod 231. And avoiding the barrier in the detection process is more convenient.
In one embodiment, in order to realize an automatic avoidance function, the truss 4 is further provided with a laser sensor 43 for detecting whether the truss 4 approaches a pier, the laser sensor 43 is in communication connection with the central controller 5, and the central controller 5 controls the avoidance motor 232 and/or the rotating mechanism 44 according to a detection signal of the laser sensor 43. The laser sensor 43 is used for acquiring the position information of the bridge pier from the truss 4, measuring the distance from the nearest bridge pier to the truss 4 in the running direction of the detection vehicle, and transmitting the detection signal to the central controller 5. When the central controller 5 determines that the distance between the truss 4 and the pier reaches a preset value according to the detection signal, the avoidance motor 232 and/or the rotating mechanism 44 are controlled to perform pier avoidance.
Example 3:
on the basis of the embodiment 1 or the embodiment 2, in order to further improve the accuracy of the bridge detection result, the following improvements are made to the technical scheme:
in one embodiment, in order to increase the types and items of detected information, an information acquisition mechanism is arranged on the truss 4 and is in communication connection with the central controller 5, and the information acquisition mechanism comprises one or more of a video camera, a compound eye camera 41 and an ultrasonic detector. In the process of detecting the bridge bottom condition of the bridge, video recording can be carried out through a video camera, or a compound eye camera 41 is adopted to continuously shoot panoramic pictures at the bridge bottom, then a plurality of panoramic pictures are integrated by establishing reference coordinates, or an ultrasonic wave monitor is adopted to carry out ultrasonic wave crack detection on the bottom surface and the inside of the bridge, or more information acquisition devices in related fields are adopted to carry out detection. And then the collected information is transmitted to the central controller 5, and the central controller 5 stores the collected information in an internal or external memory, or transmits the collected information to other equipment.
In one embodiment, as shown in fig. 3, in order to improve the clarity and the shooting range of the panoramic image, the lens structure of the fly-eye camera 41 includes a hemispherical base 411, at least one hemispherical lens 412 disposed on the surface of the base, and a plurality of cylindrical lens 413 disposed on the surface of the base and surrounding the hemispherical lens 412. The compound-eye camera 41 is used to take a panoramic picture, and in order to more clearly acquire information on the bottom and periphery of the bridge, it is necessary to take a panoramic picture in an area where the photographing range is hemispherical. Therefore, the lens of the lens for shooting the pictures at the periphery adopts the cylindrical surface design, and the pictures in the 1.25M 0.87M-2.5M 1.75M area within the distance of 1-2M can be shot more clearly. The hemispherical base surface is uniformly surrounded by a plurality of cylindrical lens 413, and a line connecting the centers of the plurality of cylindrical lens 413 forms a circle parallel to the base bottom surface. However, since the top dead zone is formed by integrating the pictures shot by the cylindrical lens 413, the hemispherical lens 412 is disposed at the top center of the hemispherical base 411 to shoot the pictures in the area of 1.5M × 1.5M-3M × 3M within the distance of 1-2M, and the panoramic picture fully covered in the hemispherical area is formed by integrating all the pictures.
Based on the above embodiment, in order to better improve the quality of the panoramic image captured by the compound-eye camera and to balance the capturing range of each camera, in an embodiment, the cylindrical lens lenses 413 are uniformly arranged on the circumference of a parallel circle of the spherical surface of the hemispherical base 411, and the orthographic projection of the lens center of the hemispherical lens 412 coincides with the spherical center of the hemispherical base 411.
In one embodiment, in order to realize efficient processing and analysis of bridge detection information, the landing and pier-avoiding detection vehicle further comprises a wireless communication module in communication connection with the central controller 5; the central controller 5 is connected with a cloud server which stores intelligent building disease analysis data through a wireless communication module. The central controller 5 is connected with the cloud server through the wireless communication module, and uploads the acquired bridge detection data quickly, so that the cloud server performs comparative analysis on the received bridge detection data based on the stored intelligent analysis data about the construction object damage to acquire a corresponding bridge detection result, and compared with the analysis of field detection personnel by personal experience, the acquired bridge detection result is more accurate.
In one embodiment, in order to avoid the detection result being affected by inaccurate information acquisition caused by insufficient light, the truss 4 is further provided with an LED lamp 42. When the light at the bottom of the bridge is insufficient, the LED lamp 42 is used for lighting to reinforce the light source.
Example 4:
on the basis of the embodiment 1, the embodiment 2 or the embodiment 3, in order to further improve the passing performance of the detection vehicle, the following improvements are made to the technical scheme:
in one embodiment, in order to shorten the time required for adjusting the posture during avoiding the bridge pier, the longitudinal support 3 is a telescopic rod structure. When the bridge pier avoiding action is carried out, the longitudinal support 3 is wholly inclined by matching with the lifting action of the lifting mechanism, and the bottom end of the longitudinal support starts to move upwards in an inclined way towards the side of the bridge, so that the truss 4 is driven to be drawn out of a gap between the bridge piers. In the process, the speed of drawing the truss 4 out of the gap can be further accelerated by the expansion and contraction of the longitudinal support 3.
The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any other embodiments that can be easily conceived or replaced by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention.
The present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.
Claims (10)
1. A lifting type bridge pier avoidance detection vehicle is characterized by comprising a vehicle body, a transverse support arranged on the vehicle body, a longitudinal support connected to the end part of the transverse support, and a truss connected to the bottom end of the longitudinal support through a rotating mechanism; the transverse support comprises a first base connected with the vehicle body, a second base connected with the longitudinal support and a lifting mechanism used for connecting the first base and the second base; the lifting mechanism comprises a plurality of groups of lifting assemblies arranged in parallel, each group of lifting assemblies comprises a connecting rod, one end of each connecting rod is hinged to the end of the first base, and the other end of each connecting rod is fixedly arranged on the side wall of the second base.
2. The rise-and-fall avoidance pier detecting vehicle of claim 1, wherein each set of lift assemblies further comprises an avoidance motor and a gear set; the gear set comprises a driving gear in driving connection with the avoidance motor and a driven gear meshed with the driving gear; the driving gear is arranged on the first base, and the driven gear is arranged at the end of the connecting rod.
3. The rise-and-fall avoidance pier detecting vehicle of claim 2, further comprising a central controller, wherein the central controller is in communication connection with the avoidance motor.
4. The rise-and-fall avoidance pier detecting vehicle of claim 3, wherein the central controller is in communication with a rotation mechanism.
5. The rise-and-fall type pier avoidance detecting vehicle according to claim 3 or 4, wherein a laser sensor for detecting whether the truss is close to the pier is further arranged on the truss, the laser sensor is in communication connection with a central controller, and the central controller controls an avoidance motor and/or a rotating mechanism according to a detection signal of the laser sensor.
6. The rise-and-fall avoidance pier detecting vehicle according to claim 3, wherein an information collecting mechanism is arranged on the truss and is in communication connection with the central controller, and the information collecting mechanism comprises one or more of a video camera, a compound eye camera and an ultrasonic detector.
7. The rise-and-fall avoidance pier detecting vehicle according to claim 6, wherein the fly-eye camera comprises a hemispherical base, at least one hemispherical lens disposed on the surface of the base, and a plurality of cylindrical lens disposed on the surface of the base and surrounding the hemispherical lens.
8. The rise-and-fall avoidance pier detecting vehicle of claim 5, further comprising a wireless communication module in communication connection with the central controller; the central controller is connected with a cloud server which stores intelligent building disease analysis data through a wireless communication module.
9. The rise-and-fall avoidance pier detecting vehicle according to claim 1, wherein an LED lamp is further provided on the truss.
10. The rise-and-fall avoidance pier detecting vehicle of claim 1, wherein the longitudinal support is a telescopic rod structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922206407.0U CN211815578U (en) | 2019-12-10 | 2019-12-10 | Rising and falling type pier avoidance detection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922206407.0U CN211815578U (en) | 2019-12-10 | 2019-12-10 | Rising and falling type pier avoidance detection vehicle |
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| CN211815578U true CN211815578U (en) | 2020-10-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112557405A (en) * | 2021-01-04 | 2021-03-26 | 中交第一公路勘察设计研究院有限公司 | Inspection system for bridge appearance detection based on rail-mounted travelling car |
-
2019
- 2019-12-10 CN CN201922206407.0U patent/CN211815578U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112557405A (en) * | 2021-01-04 | 2021-03-26 | 中交第一公路勘察设计研究院有限公司 | Inspection system for bridge appearance detection based on rail-mounted travelling car |
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